CN107082071A - For preventing the unexpected method and servicing unit for leaving runway - Google Patents

For preventing the unexpected method and servicing unit for leaving runway Download PDF

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Publication number
CN107082071A
CN107082071A CN201610256909.2A CN201610256909A CN107082071A CN 107082071 A CN107082071 A CN 107082071A CN 201610256909 A CN201610256909 A CN 201610256909A CN 107082071 A CN107082071 A CN 107082071A
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CN
China
Prior art keywords
vehicle
runway
border
sensor
determined
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Pending
Application number
CN201610256909.2A
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Chinese (zh)
Inventor
M·赛博尔德
S·劳赫
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Publication date
Application filed by Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Priority to CN201610256909.2A priority Critical patent/CN107082071A/en
Priority to DE102016215643.8A priority patent/DE102016215643A1/en
Publication of CN107082071A publication Critical patent/CN107082071A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/082—Lane monitoring; Lane Keeping Systems using alarm actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/083—Lane monitoring; Lane Keeping Systems using active brake actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Human Computer Interaction (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

It is used to prevent to leave the runway of runway without departing from servicing unit and method by the vehicle of pilot control the present invention relates to a kind of, this method has following steps：The surrounding environment of vehicle is detected using at least one first sensor；The current location of vehicle is determined according to the vehicle-periphery and the ambient data of storage detected using first sensor, wherein, the current location has the precision for being enough to recognize the track residing for vehicle；The border of runway is read from navigational route database according to the current location of vehicle；The runway border read according to the current location of vehicle and/or speed and/or track and from navigational route database is determined, if there is danger of the vehicle possibly off runway；And if it is determined that there is danger of the vehicle possibly off runway, then perform kinematics intervention.

Description

For preventing the unexpected method and servicing unit for leaving runway
Technical field
The present invention relates to a kind of method and a kind of servicing unit, methods described and servicing unit are prevented Vehicle unexpectedly leaves runway
Background technology
Such servicing unit well known in the art, it aids in driving in the driving task of vehicle For example known such spacing servicing units of the person of sailing, when relative to other vehicles or standing object When being smaller than a certain amount of, if then vehicle is braked by the driver by these spacing servicing units The vehicle of manipulation unexpectedly leaves current lane, then track keeps the driving of accessory system warning vehicle Member.
Track of the prior art keep accessory system by means of installed on vehicle sensor, example Detected such as camera, whether whether vehicle be in track or runway or can surprisingly leave The track or runway sensors detect the boundary line in track.If track keeps accessory system true Surely there is danger of the vehicle possibly off current lane, then driver for example by one on the steering wheel Small moment of torsion or be warned and be required by the vibration of steering wheel, by intervene in prior art System in the case of, vehicle must be again brought up on correct track by driver.This track The defect of holding system is, it must by driver it is absorbed participate in.
So-called Vienna protocol requirement, in the case of supermatic driving (wherein Control device undertakes the control on vehicle drive) driver can must be also undertaken on vehicle at any time Control be used for increasingly automated driving function must be activated by driver
Track of the prior art keeps accessory system to be merely sent to one warning of driver, not In driving task is got involved on one's own initiative in addition, track of the prior art keeps accessory system general Property on the boundary line in track orient, these boundary lines are detected during travelling by sensor Arrive.It is such to detect related to the situation and weather of vehicle runway boundary line
DE102010029222A1 is related to a kind of track aided in for transverse guidance and keeps auxiliary system System, track keeps accessory system to apply two different feedback torques in the case of current lane is left It is added on steering wheel
US8095266B2 discloses a kind of track and keeps accessory system, and the track keeps accessory system With a sensor and a compensating unit, for evaluation perspective skew and offset distance
EP1371948A2 disclose it is a kind of be used for recognize deliberate or unexpected lane changing be System, wherein, track is left to recognize in the case where considering camera data and navigation data, simultaneously Implement on this basis for preventing from leaving the manipulation intervention in track.
DE102004045483A1 discloses the method and dress for recognizing driver attention's missing Put, wherein, when recognize at once leave track when, only recognizing notice lack feelings Just implement steering engagement under condition, herein using the data of diagram.
DE102010014946A1 discloses a kind of lane holding assistant, and it is urgent at one Dangerous situation under perform a steering engagement.
The content of the invention
The task of the present invention is that there is provided a kind of improved method for preventing vehicle from leaving track With it is a kind of it is improved be used for prevent from leaving the servicing unit in track.
The task of the present invention passes through the method according to claim 1 and the driving according to claim 10 Road-without departing from servicing unit provides preferred form of implementation to solve dependent claims.
By the present invention for preventing the method that vehicle leaves runway from including：Using at least one The step of one sensor detects vehicle-periphery and the vehicle week detected according to utilization first sensor The step of collarette border and current location of the ambient data to determine vehicle of storage, wherein, when Front position, which has, is enough to recognize the track residing for vehicle or the precision of runway.Vehicle-periphery can With the surrounding environment including road.Methods described is according to the current location of vehicle from navigational route database Read the border methods describeds of runway according to the current location of vehicle and/or speed and/or track and The runway border read from navigational route database is determined：With the presence or absence of vehicle possibly off driving The danger in road.In a kind of form of implementation, methods described can be determined：In the current location of vehicle Whether the deviation between the runway border read from navigational route database is less than a predetermined threshold Value.If it is determined that there is danger of the vehicle possibly off runway, then methods described performs a fortune Dynamic learn intervenes in a kind of form of implementation, if the current location of vehicle and runway border it Between deviation less than predetermined threshold value, then methods described can perform the kinematics and intervene
Kinematics intervention can be a steering engagement and/or a brake regulation
The determination of the current location of vehicle can be by the ambient data by means of being stored to profit The processing of the vehicle-periphery detected with first sensor realizes that can for example use this institute SLAM (synchronous localisation and mapping) method automation travelings of meaning Vehicle for high-precision self poisoning use particularly accurate navigation data, these navigation numbers According to precision be enough to determine track residing for vehicle.Thus on vehicle heading and transverse to car The position of travel direction can be so accurately determined so that can determine which track vehicle is in Upper
In another form of implementation, current location and/or speed that methods described can be according to vehicle And/or track determines a prediction locus and checked：Whether the prediction locus may exceed runway side Boundary's this method is particularly suitable under higher speed conditions especially at high speeds, vehicle It is related to runway drive towards angular displacement and may result in a short time leave runway.
The present invention can realize the lane changing of runway, but prevent from leaving the runway present invention simultaneously Safer vehicle drive can be realized, even if when driver's un-activation autonomous driving, because described Method can automatically be activated, and be wanted simply by the presence of with the runway section for being crossed by vehicle The navigation data of refinement degree.Therefore security can be improved, even if driver's un-activation autonomous driving Thus, it is possible to realize, driver is gradually trusted in autonomous driving.
It is another advantage of the present invention that presence that can be with road sign and/or situation are independently Runway is left described in preventing
Methods described is extendable in a kind of form of implementation so that when vehicle exceeds track or driving Kinematics intervention is not performed during the border in road.Driver can so control vehicle so that the driving Member can be done with changing Lane or runway without the intervention occurred to wagon control to wagon control Only just carry out when there is the danger for leaving runway in advance
The precision of navigational route database can have less than +/- 0.5m, preferably smaller than +/- 0.2m, more preferably Less than +/- 0.1m site error.The precision of the data of navigational route database can about with runway Edge and runway edge flag, such as runway edge flag center line or with runway edge flag Spacing between outward flange is equally big.
The surrounding environment detected by first sensor can include roadside cultivation, guardrail, guide post, Traffic mark board, surface mark, lamp stand, bridge shape road sign, architectural engineering and/or building.
The border that methods described can detect runway by means of second sensor can for example be detected The mark on runway border.Methods described can be by the runway side read from navigational route database Applied to vehicle is determined whether there is, possibly off the dangerous of runway, these steps can be used on boundary, Verify data in navigational route database, so as to for example recognize due to caused by construction site in structure On change.
Methods described can be determined：The runway border determined by second sensor and from navigation number If according to the threshold value predetermined more than one of the deviation between the runway border read in storehouse by Between the runway border of two sensors measure and the runway border read from navigational route database The deviation threshold value predetermined more than one, if then methods described can alert driver's navigation datas When storehouse is not newest or foundation has construction site in the runway section that vehicle is travelled, the feelings Condition is it is possible that
First sensor and/or second sensor can have camera, stereoscopic camera, radar sensing Device, laser radar sensor and/or these sensors or other sensor any combination.First passes Sensor can detect the surrounding environment of road.Second sensor can detect the surrounding environment in vehicle In runway.
Methods described is not it was determined that vehicle driver focuses on and/or divert one's attention. In a kind of form of implementation, only when there is vehicle possibly off the danger of runway and determine driver When being not focusing on and/or diverting one's attention, methods described can just perform the kinematics and do In advance.
It is possible thereby to reduce the number of times of the erroneous trigger of methods described, because the system is only when driving The person of sailing is unexpectedly close to just execution kinematics intervention during runway border.
When it is determined that vehicle driver performs a lane changing allowed, methods described can not be held Row kinematics intervenes when it is determined that vehicle driver performs an overtaking process allowed, the side Method can not perform kinematics intervention.When it is determined that driver so manipulates vehicle so that the vehicle from Start track, in order to reach during other traffic zones, methods described can not perform kinematics and do It can be other that thus pre-, which can also reduce other traffic zones described in the number of times of erroneous trigger, Road, entrance, outlet, parking lot or the like.Alternatively or additionally, control device can be with It is configured to：When vehicle is with the speed of very little traveling, for example when should be docked near runway not Allow to exceed runway border when belonging on the region of runway.Alternative is described in this or additionally Control device can be configured to：Even if when vehicle is to run at high speed, for example when simultaneously other Accessory system detects a hazardous situation, for example head-on sails on track used in the vehicle Allow to exceed runway border during vehicle
Methods described can be determined in a bend according to the runway border read using navigation system In maximum permission speed.If beyond the limit velocity determined according to maximum permission speed, Methods described can perform a kinematics intervention.It is possible thereby to early determine：Vehicle is too quickly Drive into bend and necessary brake regulation is can trigger before hazardous situation is entered.
The present invention also relates to a computer program product, when computer program product is loaded into one When in the memory of the computer with processor, the computer program product performs previously described Method.
The invention further relates to a kind of runway-without departing from servicing unit, the runway-filled without departing from auxiliary Put with first sensor, the first sensor is configured to, detect the surrounding environment of vehicle.Car Surrounding environment also includes the surrounding environment of road.The runway-include position without departing from servicing unit Determining device is put, the position determining means are configured to：According to the car detected using first sensor Surrounding environment and the ambient data of storage determine the current location of vehicle.The position is true Determine device have be enough to recognize the track residing for vehicle or the precision of runway.The runway-not from Driving servicing unit includes runway border determining device, and runway border determining device is configured to： The border of runway is read from navigational route database according to the current location of vehicle in addition, runway- Include check device without departing from servicing unit, the check device is configured to：According to the current of vehicle Position and/or speed and/or track and the border read from navigational route database are checked, if deposited In danger of the vehicle possibly off runway.The runway-also include control without departing from servicing unit Device, the control device is configured to：When exist vehicle possibly off runway danger when perform One kinematics intervenes
There is runway-without departing from the vehicle of servicing unit the present invention also relates to a kind of.
Brief description of the drawings
The present invention is illustrated with reference now to accompanying drawing, the present invention one is the figure illustrate non-limiting Form of implementation, wherein：
Fig. 1 shows an exemplary traffic scene.
Embodiment
Fig. 1 shows a vehicle 100, and the runway-no by the present invention is provided with the vehicle Leave servicing unit 101 and performed in the vehicle for preventing from leaving the side of runway 202 Method.Runway-include first sensor 102, the first sensor without departing from servicing unit 101 For example can have camera, stereoscopic camera, radar sensor, laser radar sensor and/ Or the detection vehicle 100 of any combination first sensors 102 of these sensors or other sensors Surrounding environment and ring around especially road 200 can be detected in a kind of form of implementation Border.
The surrounding environment of road 200 can include guardrail 206, traffic sign 208, guide post 212nd, 220 and building 214,216,218. be used for detect in vehicle 100 and/or road The suitable sensor of these objects in 200 surrounding environment is known to those skilled in the art And need not be further described herein in concise meaning.
In addition, vehicle includes antenna 103, the antenna can receive signal days of multiple satellites Line 103 is connected to global position system 105, on such as Global Navigation System (GNSS), should Global position system can determine the position of vehicle 100, and the position has in about +/- 2m to about Position deviation in the range of 10m.
In addition, vehicle 100 includes navigational route database 107, it is stored with the navigational route database Ambient data ambient datas are included on the object in the surrounding environment of road 206th, 208,212,214,216,218,220 information.These objects can be with any Mode, the database for being stored in for example based on model or with other any-modes navigation system 107 Middle
Vehicle 100 includes position determining means 108, and the position determining means are passed according to by first Sensor 102 detect vehicle 100 and/or runway 200 surrounding environment and according to navigation Stored in database 107 on the object 206 in the surrounding environment of road 200,208, 212nd, 214,216,218,220 data determine the vehicle 100 along travel direction and horizontal stroke This can be used for accurately self poisoning to the position of the travel direction in vehicle 100 Method, these methods are to those skilled in the art for example as SLAM (Synchrones Lokalisieren und Zuordnen；Synchronous positioning and mapping) method is Know.The data of satellite navigation system 105 can auxiliarily be used.In a kind of form of implementation, What position determining means 108 can use satellite position determining device 105 has first precision Positional information, to determine rough position by means of being detected by first sensor 102 The surrounding environment of vehicle 100 and/or road 200 and the pass stored in navigational route database 107 The position with the second precision of vehicle 100 is can determine that in the information of the surrounding environment of road 200, Second precision has smaller site error compared to the first precision.Second precision can have small In +/- 0.5m, preferably smaller than +/- 0.2m, more preferably less than +/- 0.1m site error.
The vehicle 100 travelled on the track 202 of backroad 200 also includes runway border Determining device 110, the runway border determining device is configured to：From navigational route database 107 In read out the border 203,220 of runway 202 at the position of vehicle 100.In addition, row Track-include check device 112 without departing from servicing unit 101, the check device is configured to： Check in the current location of vehicle 100 and the border of runway 202 read from navigational route database 203rd, the deviation between 220 whether less than one predetermined threshold value.
In addition, runway-include control device 114, control dress without departing from servicing unit 101 Put and be configured to：When in the current location of vehicle 101 and the border of runway 202 203,220 Between deviation when being less than a predetermined threshold value, perform kinematics and intervene
The kinematics intervention can be the intervention to Vehicular turn, for example electric power steering institutes State the triggering that kinematics intervention can also be brake measure, such as in brake auxiliary device In the case of and/or the in the case of a spacing adjusting device and/or a speed adjusting device
Vehicle can have second sensor 104, second sensor detection runway 202 Border second sensors 104 can also have camera, stereoscopic camera, radar sensor, The combination of laser radar sensor or described sensor.Control device 114 can be used from leading The border 203,220 of runway 202 read judges in boat database 107：Whether one is needed Individual kinematics intervention, if the border 203 of runway 202 determined by second sensor 104, 220 have relative to the border 203,220 of runway 202 read from navigational route database 107 If position deviation less than predetermined threshold value.Therefore, second sensor 104 is used for the side Method and the runway-without departing from the monitoring of servicing unit 101.Second sensor 104 is probably It is necessary, to recognize the traffic route in construction site and/or change
If control device 112 is determined on the side of runway 202 determined by second sensor 104 Boundary 203,220 and the border 203,220 of runway 202 read from navigational route database 107 Between the deviation threshold value predetermined more than one, then driver be warned.When navigation data no longer It is that newest, runway recurring structure change and/or a construction site are built immediately, it is this May occurs in this case in situation, in the present inventive method with runway-without departing from auxiliary Device 101 is helped to be controlled such so that even if when vehicle 100 is relative to from navigational route database The spacing on the runway border 203,220 read in 107 when being less than a predetermined threshold value not yet Perform kinematics and intervene
Runway-can be coupled without departing from servicing unit 101 with 3rd sensor 106, the 3rd The state of Sensor monitoring driver.3rd sensor 106 for example can be infrared ray-camera Or it is other arbitrary by sensor well known by persons skilled in the art.3rd sensor 106 can be with It is determined that：Driver does not focus on, for example fallen asleep, and eyes do not watch road, vehicle attentively Control element operation and/or movement electronic equipment operation.Control device 112 can be only When the deviation between the current location of vehicle 100 and the border 203,220 of runway 202 is less than One predetermined threshold value and determine when driver does not focus on that just performing kinematics intervenes It is possible thereby to reduce the number of times of erroneous trigger.
Control device 112 can be arranged such so that if it is determined that the driver of vehicle 100 performs The lane changing that the change track of one permission does not just perform kinematics intervention and allowed can be as follows Situation：The pilot control vehicle 100 of vehicle 100 is right in other words from the right direction lane 202 The direction lane 204 or car in the reverse travel direction for backroad 200 are arrived in side track 202 On road 204, can be set to surmount other control devices 112 of vehicle 224. is used for：When driving The person of sailing so controls vehicle 100 so that the vehicle leaves runway 200, to reach a shape Into other traffic zone parking lot 210 when, then do not perform kinematics intervene
In another form of implementation, control device is configurable for：When vehicle 100 is with very little When speed is travelled, such as when the region for being not belonging to the runway that should be docked in beside runway When upper, then allowed to exceed runway edge 203.
In another form of implementation, control device is configurable for, for example, detected when simultaneously One hazardous situation, for example head-on sailed on the track 203 of oneself when carrying out vehicle, even if working as car 100 are travelled with high speed, also allow to exceed runway edge 203.
Control device 112, which can be set, to be used for, according to the runway side read from navigational route database Boundary 203,220 determines the maximum permission speed in a bend 226, and if according to The limit velocity that maximum permission speed in bend 226 is determined is exceeded, then performs kinematics Intervene limit velocity described in can by means of and the ratio or deviation of maximum permission speed determine.
The present inventor's starting point is as follows：(it includes whole runway together with institute to runway Unsegregated path or the track in structure having) leave consistently form one traveling mistake simultaneously And often turn into accident the reason for vehicles must perform a driving measure in this condition, To prevent from leaving runway.Such driving measure can include the vehicle system of a reinforcement Dynamic even same so-called full application of brake.It is an advantage of the invention that so avoid leaving runway, I.e. driver is not only warned, and runway-without departing from servicing unit or methods described is on one's own initiative Intervened in driving behavior.Thus the primary stage of an automation or autonomous driving can be realized (Vorstufe), the driving is corresponded in the current regulations of Vienna-agreement.In order to improve safety Property, in the present inventive method or by the present invention runway-without departing from servicing unit activation it is obstructed The operation for crossing driver is realized.By the runway-without departing from servicing unit or by the present invention of the present invention Method can automatically be activated, as long as the position of such as vehicle can for example based on navigation number Is precisely enough determined according to the data on runway surrounding environment in storehouse
Around according to the information stored in navigational route database 107, for example on runway 202 The information of environment, not only runway changes but also carriageway type, such as highway or rural road Road can be precisely enough determined.Vehicle can pass through one with respect to the exact position of runway Individual GNSS system and other technologies for the accurate self poisoning with aforementioned precision It is determined.Such technology can include previously mentioned SLAM methods.By the present invention Method and runway-changing Lane can be realized without departing from servicing unit 101, if this is fair Perhaps, for example in the case of turning, in the case of being overtaken other vehicles on backroad, in closing villages and small towns It is internal, on a highway, any choosing lane on multilane backroad or on similar road In the case of.Overtaking process on backroad 200 can for example be known in the following way Not：The flasher in vehicle is activated by control device 112.
The runway-can be with a warning servicing unit phase group of colliding without departing from servicing unit Close, collision warning servicing unit prevent from bumping against on other moving objects or stationary object by This can make the security of vehicle 100 improve once again
The invention has the advantages that, it forms the primary stage of a fully automated driving of vehicle, So that the driver habit of vehicle 100 is in runways-without departing from auxiliary of the autonomous driving by the present invention Device or in the present inventive method only when possibly off runway and thus for vehicle periphery Environment and/or a kinematics intervention is just performed when there is big danger for Vehicular occupant.

Claims (10)

1. for preventing the method for leaving runway (202) by the vehicle (100) of pilot control, This method has following steps：
- detect vehicle (100) surrounding environment using at least one first sensor (102)；
- according to the vehicle-periphery and surrounding's ring of storage detected using first sensor (102) Border data determine the current location of vehicle (100), wherein, the current location, which has, to be enough to know The precision in the track (202) residing for other vehicle (100)；
- runway is read from navigational route database (107) according to the current location of vehicle (100) (200) border (203,220)；
- according to the current location of vehicle (100) and/or speed and/or track and from navigational route database (107) runway (200) border (203,220) read in is determined, if there is car The danger of (100) possibly off runway (200)；And
- if it is determined that there is vehicle (100) possibly off the danger of runway (200), then hold Row kinematics is intervened.
2. the method as described in claim 1, it is characterised in that：
When vehicle (100) exceeds the border of track (202), kinematics intervention is not performed.
3. the method as described in claim 1 or 2, it is characterised in that：
The precision of the navigational route database (107) have less than +/- 0.5m, preferably smaller than +/- 0.2m, More preferably less than +/- 0.1m site error
4. the method as described in one of claims 1 to 3, it is characterised in that：
The surrounding environment detected by first sensor (104) at least includes one of following：
Cultivate in-roadside；
- guardrail (206)；
- guide post (212,220)；
- traffic mark board (208)；
- surface mark；
- lamp stand；
- bridge shape road sign；
- architectural engineering；And/or
- building (214,216,218)
5. the method as described in one of Claims 1-4, it is characterised in that：
Methods described has following steps：
- by means of the border (203,220) of second sensor (104) detection runway (202)； And
If-on runway (200) border (203,220) determined by second sensor (104) Between runway (200) border (203,220) read from navigational route database (107) Deviation be no more than predetermined threshold value, then determining whether there is vehicle (100) possibly off driving The runway (202) read from navigational route database (107) is used in the dangerous step in road (200) Border (203,220).
6. the method as described in one of claim 1 to 5, it is characterised in that：
Methods described has following steps：
- determine on runway (200) border (203,220) determined by second sensor (104) Deviation between runway (200) border read from the navigational route database (107) beyond Predetermined threshold value；And
If-the runway border (203,220) determined by second sensor (104) and from Deviation between runway (200) border read in navigational route database (107) is beyond predetermined Threshold value, then alert driver.
7. the method as described in one of claim 1 to 6, it is characterised in that：
Methods described has following steps：
- determine that the driver of vehicle (100) does not focus on；And
- if there is vehicle (100) possibly off runway (200) danger and if really Determine driver not focus on, then perform kinematics intervention.
8. the method as described in one of claim 1 to 7, it is characterised in that：
Kinematics intervention is not performed in following situation：
- when it is determined that the driver of vehicle (100) performs a lane changing allowed；
- when it is determined that the driver of vehicle (100) performs an overtaking process allowed；And/or
- when it is determined that driver so manipulates vehicle (100) so that the vehicle leaves runway (202), To reach during other traffic zone (210).
9. the method as described in one of claim 1 to 8, it is characterised in that：
Methods described has following steps：
Runway (200) border (203,220) that-basis is read from navigational route database is come really It is scheduled on the maximum permission speed in a bend (226)；And
If-beyond the limit velocity determined according to the maximum permission speed in bend (226), Then perform kinematics and intervene
10. runway-and without departing from servicing unit (101), it has：
- first sensor (102), the first sensor is configured to：Detect surrounding's ring of vehicle Border；
- position determining means (108), the position determining means are configured to：According to utilizing first The vehicle-periphery of sensor detection determines the present bit of vehicle with the ambient data of storage Put, wherein, the position determining means (108) have a precision, to recognize vehicle (100) Residing track (202)；
- runway border determining device (110), the runway border determining device is configured to： Runway (202) is read from navigational route database (107) according to the current location of vehicle (100) Border (203,220)；
- check device (112), the check device is configured to：According to the current of vehicle (100) Position and/or speed and/or track and the runway (200) read from navigational route database (107) Border (203,220) is checked, if there is vehicle (100) possibly off runway (200) Danger；With
- control device (114), the control device is configured to：If it is determined that there is vehicle (100) Possibly off the danger of runway (200), then a kinematics intervention is performed.
CN201610256909.2A 2016-02-15 2016-02-15 For preventing the unexpected method and servicing unit for leaving runway Pending CN107082071A (en)

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Application publication date: 20170822